engleski

An Integrated Approach to Motion Planning of Mobile Robots

In this paper we present a motion planning approach of indoor mobile robots based on integration of A* path planning algorithm and dynamic window loacal obstacle avoidance method. A simple and efficient procedure to the selection of appropriate motion commands based upon alignment trajectories generated by the dynamic window module and the global geometric path is proposed. Global occupancy grid map is incrementaly updated in on-line manner. The algorithm is verified in Saphira simulated environment for differential drive Pioneer 2DX mobile robot using laser range sensor.

mobile robots; navigation; motion planning path planning; obstacle avoidance

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